In the droid registration, ee_pose is read from base_link, and its pitch values reach around ±90 degrees when the robot is in the home position. Is this intended behavior? I changed the joint link to panda_link8, and my model eval performance improved (trained on droid ee_poses). Home position value made sense after this change, i.e., roll: ~180, pitch: ~0, yaw: ~0 (in degrees).
In the droid registration, ee_pose is read from base_link, and its pitch values reach around ±90 degrees when the robot is in the home position. Is this intended behavior? I changed the joint link to panda_link8, and my model eval performance improved (trained on droid ee_poses). Home position value made sense after this change, i.e., roll: ~180, pitch: ~0, yaw: ~0 (in degrees).